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For any given query it can be expected that data is interpolated. The odds of a specific query being exactly at the same timestamp of all the frames in the system is very unlikely in an asynchronous system with ns precision.

The interpolation logic does not have support for limiting the range of interpolation, nor does it have a way to tell you what the neighboring points used are.

Those are features that could be added. However in general the trasforms are expected to be provided in a continuous manner that is fast enough to approximate the natural bandwidth of the system.

Note that there's an implicit limit with the maximum cache size of 10s by default. It cannot interpolate outside of the cache history. Though you run the risk of incurring extrapolation limits based on your system.